摘要
六轴关节型机械手是一种新兴的自动化机械装置。国内外都在大力研究发展之中,依据国内的现状,提出了一种基于实时Linux平台下的采用EtherCAT总线的六轴关节型机械手实现方案,其具有结构简单、工作稳定、性能优越、成本适中等特点。硬件以嵌入式工控机、EtherCAT接口运动控制卡、脉冲型伺服单元为主,也可选用支持EtherCAT接口的伺服单元而省去运动控制卡;软件以EMC2数控软件为基础进行二次开发。文中重点论述了软件的设计和运动控制板卡硬件的设计,指出了硬件设计中的电磁兼容性、ARM复位、干扰隔离、ESD防护等问题,并给出了相应的解决方法。通过实践表明,该系统运行效果良好,达到预期目标。
The six-axis articulated robot is a kind of widely used mechanical equipment. According to the domestic situation of the six-axis articulated robot, a method based on EtherCAT were put forward, it has simple structure, stable operation, superior performance, moderate cost. Hardware is constituted by em- bedded IPC, EtherCAT interface movement control card, pulse-type servo unit. It also supports Ether- CAT servo unit, then do not use motion control card. Software runs under the real time Linux system, base on EMC2 CNC software. Paper focuses on the design of software and the hardware of motion con- trol card, and pointed out the EMC, reset of ARM, interference signal isolation, ESD protection and other issues, than gives the corresponding solution. The experiments and application results have proved that the system working well, reaching the pre-set target.
出处
《组合机床与自动化加工技术》
北大核心
2013年第5期16-18,22,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
广东省教育部产学研项目(2009B090300060)
